diff --git a/src/lib/ecl/attitude_fw/ecl_wheel_controller.cpp b/src/lib/ecl/attitude_fw/ecl_wheel_controller.cpp
index 7f8a9ca6c7..7e34ff2a61 100644
--- a/src/lib/ecl/attitude_fw/ecl_wheel_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_wheel_controller.cpp
@@ -33,7 +33,7 @@
 
 /**
  * @file ecl_wheel_controller.cpp
- * Implementation of a simple orthogonal coordinated turn yaw PID controller.
+ * Implementation of a simple PID wheel controller for heading tracking.
  *
  * Authors and acknowledgements in header.
  */
diff --git a/src/lib/geo/geo.c b/src/lib/geo/geo.c
index a8eee50435..af49bf1504 100644
--- a/src/lib/geo/geo.c
+++ b/src/lib/geo/geo.c
@@ -301,18 +301,16 @@ __EXPORT float get_distance_to_next_waypoint(double lat_now, double lon_now, dou
 __EXPORT void create_waypoint_from_line_and_dist(double lat_A, double lon_A, double lat_B, double lon_B, float dist,
 		double *lat_target, double *lon_target)
 {
-	float heading;
-
 	if (fabsf(dist) < FLT_EPSILON) {
 		*lat_target = lat_A;
 		*lon_target = lon_A;
 
 	} else if (dist >= FLT_EPSILON) {
-		heading = get_bearing_to_next_waypoint(lat_A, lon_A, lat_B, lon_B);
+		float heading = get_bearing_to_next_waypoint(lat_A, lon_A, lat_B, lon_B);
 		waypoint_from_heading_and_distance(lat_A, lon_A, heading, dist, lat_target, lon_target);
 
 	} else {
-		heading = get_bearing_to_next_waypoint(lat_A, lon_A, lat_B, lon_B);
+		float heading = get_bearing_to_next_waypoint(lat_A, lon_A, lat_B, lon_B);
 		heading = _wrap_2pi(heading + M_PI_F);
 		waypoint_from_heading_and_distance(lat_A, lon_A, heading, dist, lat_target, lon_target);
 	}
@@ -324,16 +322,16 @@ __EXPORT void waypoint_from_heading_and_distance(double lat_start, double lon_st
 	bearing = _wrap_2pi(bearing);
 	double radius_ratio = (double)(fabs(dist) / CONSTANTS_RADIUS_OF_EARTH);
 
-	double lat_start_rad = lat_start / (double)180.0 * M_PI;
-	double lon_start_rad = lon_start / (double)180.0 * M_PI;
+	double lat_start_rad = lat_start * M_DEG_TO_RAD;
+	double lon_start_rad = lon_start * M_DEG_TO_RAD;
 
 	*lat_target = asin(sin(lat_start_rad) * cos(radius_ratio) + cos(lat_start_rad) * sin(radius_ratio) * cos((
 				   double)bearing));
 	*lon_target = lon_start_rad + atan2(sin((double)bearing) * sin(radius_ratio) * cos(lat_start_rad),
 					    cos(radius_ratio) - sin(lat_start_rad) * sin(*lat_target));
 
-	*lat_target *= (double)180.0 / M_PI;
-	*lon_target *= (double)180.0 / M_PI;
+	*lat_target *= M_RAD_TO_DEG;
+	*lon_target *= M_RAD_TO_DEG;
 }
 __EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next)
 {
diff --git a/src/lib/geo/geo.h b/src/lib/geo/geo.h
index 0aa6cf03a8..11451fcf19 100644
--- a/src/lib/geo/geo.h
+++ b/src/lib/geo/geo.h
@@ -245,7 +245,7 @@ __EXPORT float get_distance_to_next_waypoint(double lat_now, double lon_now, dou
  * @param lon_A waypoint A longitude in degrees (8.1234567°, not 81234567°)
  * @param lat_B waypoint B latitude in degrees (47.1234567°, not 471234567°)
  * @param lon_B waypoint B longitude in degrees (8.1234567°, not 81234567°)
- * @param dist distance of target waypoint from waypoint A (can be negative)
+ * @param dist distance of target waypoint from waypoint A in meters (can be negative)
  * @param lat_target latitude of target waypoint C in degrees (47.1234567°, not 471234567°)
  * @param lon_target longitude of target waypoint C in degrees (47.1234567°, not 471234567°)
  */
@@ -254,11 +254,12 @@ __EXPORT void create_waypoint_from_line_and_dist(double lat_A, double lon_A, dou
 
 /**
  * Creates a waypoint from given waypoint, distance and bearing
+ * see http://www.movable-type.co.uk/scripts/latlong.html
  *
  * @param lat_start latitude of starting waypoint in degrees (47.1234567°, not 471234567°)
  * @param lon_start longitude of starting waypoint in degrees (8.1234567°, not 81234567°)
- * @param bearing
- * @param distance
+ * @param bearing in rad
+ * @param distance in meters
  * @param lat_target latitude of target waypoint in degrees (47.1234567°, not 471234567°)
  * @param lon_target longitude of target waypoint in degrees (47.1234567°, not 471234567°)
  */
diff --git a/src/lib/runway_takeoff/runway_takeoff_params.c b/src/lib/runway_takeoff/runway_takeoff_params.c
index 7c64889e76..f5a1017f96 100644
--- a/src/lib/runway_takeoff/runway_takeoff_params.c
+++ b/src/lib/runway_takeoff/runway_takeoff_params.c
@@ -71,6 +71,7 @@ PARAM_DEFINE_INT32(RWTO_HDG, 0);
  * rudder is used to keep the heading (see RWTO_HDG). This should be below
  * FW_CLMBOUT_DIFF if FW_CLMBOUT_DIFF > 0.
  *
+ * @unit m
  * @min 0.0
  * @max 100.0
  * @group Runway Takeoff
@@ -93,6 +94,7 @@ PARAM_DEFINE_FLOAT(RWTO_MAX_THR, 1.0);
  * a little to keep it's wheel on the ground before airspeed
  * to takeoff is reached.
  *
+ * @unit deg
  * @min 0.0
  * @max 20.0
  * @group Runway Takeoff
@@ -104,6 +106,7 @@ PARAM_DEFINE_FLOAT(RWTO_PSP, 0.0);
  * Fixed-wing settings are used if set to 0. Note that there is also a minimum
  * pitch of 10 degrees during takeoff, so this must be larger if set.
  *
+ * @unit deg
  * @min 0.0
  * @max 60.0
  * @group Runway Takeoff
@@ -115,6 +118,7 @@ PARAM_DEFINE_FLOAT(RWTO_MAX_PITCH, 20.0);
  * Roll is limited during climbout to ensure enough lift and prevents aggressive
  * navigation before we're on a safe height.
  *
+ * @unit deg
  * @min 0.0
  * @max 60.0
  * @group Runway Takeoff
diff --git a/src/lib/terrain_estimation/terrain_estimator.h b/src/lib/terrain_estimation/terrain_estimator.h
index 25723f21d8..ed9e9741f3 100644
--- a/src/lib/terrain_estimation/terrain_estimator.h
+++ b/src/lib/terrain_estimation/terrain_estimator.h
@@ -51,14 +51,14 @@
 * The measurement_update(...) function does a measurement update based on range finder and gps
 * velocity measurements. Both functions should always be called together when there is new
 * acceleration data available.
-* The is_valid() function provides information wether the estimate is valid.
+* The is_valid() function provides information whether the estimate is valid.
 */
 
 class __EXPORT TerrainEstimator
 {
 public:
 	TerrainEstimator();
-	~TerrainEstimator();
+	~TerrainEstimator() {};
 
 	bool is_valid() {return _terrain_valid;}
 	float get_distance_to_ground() {return -_x(0);}
@@ -85,6 +85,7 @@ private:
 	uint64_t _time_last_distance;
 	uint64_t _time_last_gps;
 
+	/*
 	struct {
 		float var_acc_z;
 		float var_p_z;
@@ -92,6 +93,7 @@ private:
 		float var_lidar;
 		float var_gps_vz;
 	} _params;
+	*/
 
 	bool is_distance_valid(float distance);
 
diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
index e4c8eeccde..49f08f3cab 100644
--- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
@@ -270,7 +270,7 @@ AttitudePositionEstimatorEKF::~AttitudePositionEstimatorEKF()
 			}
 		} while (_estimator_task != -1);
 	}
-
+	delete _terrain_estimator;
 	delete _ekf;
 
 	estimator::g_estimator = nullptr;